{"id":"https://openalex.org/W4401870936","doi":"https://doi.org/10.1109/tim.2024.3446625","title":"Infusing Multisource Heterogeneous Knowledge for Language-Conditioned Segmentation and Grasping","display_name":"Infusing Multisource Heterogeneous Knowledge for Language-Conditioned Segmentation and Grasping","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4401870936","doi":"https://doi.org/10.1109/tim.2024.3446625"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2024.3446625","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2024.3446625","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Instrumentation and Measurement","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5039324336","display_name":"Jialong Xie","orcid":"https://orcid.org/0009-0000-0232-0049"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jialong Xie","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, China"],"raw_orcid":"https://orcid.org/0009-0000-0232-0049","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101597404","display_name":"Jin Liu","orcid":"https://orcid.org/0000-0002-5143-2263"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jin Liu","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0002-5143-2263","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101763392","display_name":"Zhenwei Zhu","orcid":"https://orcid.org/0009-0002-4094-4914"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenwei Zhu","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, China"],"raw_orcid":"https://orcid.org/0009-0002-4094-4914","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100616949","display_name":"Chaoqun Wang","orcid":"https://orcid.org/0000-0001-5780-7284"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaoqun Wang","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0001-5780-7284","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009022553","display_name":"Peng Duan","orcid":"https://orcid.org/0000-0002-7396-7592"},"institutions":[{"id":"https://openalex.org/I196934937","display_name":"Liaocheng University","ror":"https://ror.org/03yh0n709","country_code":"CN","type":"education","lineage":["https://openalex.org/I196934937"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Duan","raw_affiliation_strings":["School of Computer Science, Liaocheng University, Liaocheng, China"],"raw_orcid":"https://orcid.org/0000-0002-7396-7592","affiliations":[{"raw_affiliation_string":"School of Computer Science, Liaocheng University, Liaocheng, China","institution_ids":["https://openalex.org/I196934937"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085317250","display_name":"Fengyu Zhou","orcid":"https://orcid.org/0000-0001-5140-7036"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fengyu Zhou","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0001-5140-7036","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.0391,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.86799039,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"73","issue":null,"first_page":"1","last_page":"11"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9926999807357788,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10181","display_name":"Natural Language Processing Techniques","score":0.9864000082015991,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6199436783790588},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5568914413452148},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4192475974559784},{"id":"https://openalex.org/keywords/natural-language-processing","display_name":"Natural language processing","score":0.3952119052410126},{"id":"https://openalex.org/keywords/speech-recognition","display_name":"Speech recognition","score":0.3452242612838745},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3212081491947174}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6199436783790588},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5568914413452148},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4192475974559784},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.3952119052410126},{"id":"https://openalex.org/C28490314","wikidata":"https://www.wikidata.org/wiki/Q189436","display_name":"Speech recognition","level":1,"score":0.3452242612838745},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3212081491947174}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2024.3446625","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2024.3446625","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","score":0.44999998807907104,"display_name":"Quality Education"}],"awards":[{"id":"https://openalex.org/G805196913","display_name":null,"funder_award_id":"2023TZXD018","funder_id":"https://openalex.org/F4320327827","funder_display_name":"Key Research and Development Project of Hainan Province"}],"funders":[{"id":"https://openalex.org/F4320313223","display_name":"Vietnam Academy of Science and Technology","ror":"https://ror.org/02wsd5p50"},{"id":"https://openalex.org/F4320327827","display_name":"Key Research and Development Project of Hainan Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1901129140","https://openalex.org/W1999156278","https://openalex.org/W2156820743","https://openalex.org/W2194775991","https://openalex.org/W2276318411","https://openalex.org/W2561529111","https://openalex.org/W2953669419","https://openalex.org/W2962716343","https://openalex.org/W2963033241","https://openalex.org/W2963163009","https://openalex.org/W2963326767","https://openalex.org/W2998012869","https://openalex.org/W3134219938","https://openalex.org/W3170390053","https://openalex.org/W3174510143","https://openalex.org/W3186077919","https://openalex.org/W3205420310","https://openalex.org/W3206386518","https://openalex.org/W3216551675","https://openalex.org/W4221167790","https://openalex.org/W4226225308","https://openalex.org/W4280539895","https://openalex.org/W4285102324","https://openalex.org/W4285613774","https://openalex.org/W4289752563","https://openalex.org/W4312971273","https://openalex.org/W4383097395","https://openalex.org/W4383108836","https://openalex.org/W4385245566","https://openalex.org/W4385473486","https://openalex.org/W4386075539","https://openalex.org/W4387092545","https://openalex.org/W4389666604","https://openalex.org/W4390187344","https://openalex.org/W4390190673","https://openalex.org/W6791353385","https://openalex.org/W6801810553","https://openalex.org/W6810151762","https://openalex.org/W6843759960","https://openalex.org/W6858561505"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2772917594","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398","https://openalex.org/W2775347418"],"abstract_inverted_index":{"Language-conditioned":[0],"segmentation":[1,103,152,214],"and":[2,11,32,83,104,138,154,176,201,213,234],"grasping":[3,105,209],"(LCSG)":[4],"requires":[5],"the":[6,29,38,51,55,58,72,76,114,118,130,134,139,156,165,197],"robot":[7],"to":[8,36,74,98,107,112,128,150,159,169,187],"simultaneously":[9],"identify":[10],"grasp":[12,43,78,162],"a":[13,42,93,145,181,208],"specific":[14],"object":[15,63,73,102,183],"in":[16,57,81,85,229],"accordance":[17],"with":[18,61],"human":[19],"linguistic":[20],"instruction.":[21],"Existing":[22],"methods":[23],"generally":[24],"involve":[25],"semantic":[26,52,115,124],"matching":[27],"between":[28,174],"entire":[30],"instruction":[31],"raw":[33],"RGB":[34],"images":[35],"ground":[37],"desired":[39,166],"object,":[40],"generating":[41],"pose":[44],"for":[45,164],"that":[46,203],"object.":[47],"However,":[48],"they":[49,66],"overlook":[50],"effectiveness":[53,222],"of":[54,71,117,211,216,223],"nouns":[56],"instruction,":[59],"struggling":[60],"fine-grained":[62,101],"localization.":[64],"Furthermore,":[65],"lack":[67],"sufficient":[68],"geometry":[69],"context":[70,116,172],"reason":[75],"optimal":[77],"pose,":[79],"resulting":[80],"instability":[82],"failures":[84],"cluttered":[86,198],"environments.":[87],"In":[88],"this":[89],"article,":[90],"we":[91,120,178],"propose":[92],"knowledge-augmented":[94],"refinement":[95,146],"network":[96],"(KARNet)":[97],"jointly":[99],"conduct":[100,188,193],"detection":[106],"tackle":[108],"these":[109],"challenges.":[110],"Specifically,":[111],"mine":[113],"nouns,":[119],"introduce":[121,180],"an":[122],"entity":[123],"enhancement":[125],"(ESE)":[126],"module":[127,186],"fuse":[129],"knowledge":[131,136],"from":[132],"both":[133],"external":[135],"base":[137],"contrastive":[140],"language-image":[141],"pretraining":[142],"(CLIP).":[143],"Besides,":[144],"decoder":[147],"is":[148,226],"proposed":[149,205],"generate":[151],"masks":[153],"incorporate":[155],"geometry-aware":[157],"features":[158],"yield":[160],"suitable":[161],"poses":[163],"objects.":[167],"Notably,":[168],"achieve":[170],"better":[171],"fusion":[173],"linguistics":[175],"vision,":[177],"further":[179,227],"language-guided":[182],"parsing":[184],"(LGOP)":[185],"coarse-to-fine":[189],"multimodal":[190],"fusion.":[191],"We":[192],"extensive":[194],"experiments":[195],"on":[196],"household":[199],"dataset":[200],"demonstrate":[202],"our":[204,224],"approach":[206],"attains":[207],"accuracy":[210],"97.97%":[212],"OIoU":[215],"94.35%,":[217],"reaching":[218],"state-of-the-art":[219],"performance.":[220],"The":[221,232],"method":[225],"validated":[228],"real-world":[230],"applications.":[231],"project":[233],"video":[235],"can":[236],"be":[237],"found":[238],"at":[239],"<uri":[240],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[241],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://karnetgrasp.github.io</uri>.":[242]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}